Automatic driving environment monitoring device and automatic driving automobile
By installing an infrared probe with dynamically adjustable position on an autonomous vehicle and an environmental monitoring device of a lidar module, the blind spot problem caused by traditional fixed sensor positions is solved, and environmental detection accuracy and safety are improved.
Patent Information
- Application Number
- CN202421427887.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-21
- Publication Date
- 2025-03-25
- Estimated Expiration
- 2034-06-21
AI Technical Summary
When an autonomous vehicle detects road changes or obstacles in the environment, traditional fixed sensor locations are likely to cause blind spots to appear, increasing the risk of collision.
An autonomous driving environment monitoring device is designed, including a lidar monitoring assembly installed on the top of an autonomous driving car and a plurality of infrared probe assembly on the circumference. Through the motor and gear mechanism of the drive assembly, the infrared probe and lidar module can be dynamically adjusted in the up, down, left and right directions to adapt to the vehicle's driving state and environmental changes.
By dynamically adjusting the detection direction of the sensor, blind spots can be effectively avoided, the accuracy of self-driving cars detecting road changes and obstacles, and the risk of collision can be reduced. At the same time, the angle adjustment of the lidar module improves the monitoring ability of high foreign objects in the height-limited area.
Smart Images
Figure CN222663352U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the field of automobiles, and in particular to an automatic driving environment monitoring device and an automatic driving automobile. Background Art
[0002] Intelligent autonomous vehicles may be equipped with various types of sensors to detect objects in their environment. For example, autonomous vehicles may include sensors such as lasers, sonars, radars, cameras, and other sensors that scan and record data from the autonomous vehicle's environment. Sensor data from one or more of these sensors may be used to detect objects and their respective characteristics (position, shape, heading, speed, etc.). This detection and recognition is a critical function for the safe operation of autonomous vehicles.
[0003] In order to confidently and accurately navigate the environment, the self-driving car may rely on previously stored electronic representations of the environment (e.g., roads, highways, etc.). The electronic representation of the environment can be considered a "map" that identifies features such as lane markings, lane edges, lane dividers, road medians, traffic safety cones, and other such features. The self-driving car can store maps of complex and simple environments, but sometimes these previously stored maps may be outdated or inaccurate. For example, there may be construction in the environment or an accident on the road, and as a result, the lanes of the road may move relative to their previously indicated positions in the previously stored map. In this case, the self-driving car must be able to recognize when these road changes occur. Currently, the sensing position of the car's driving environment monitoring sensor is fixed. For some scenarios, when changing lanes or turning, the blind spot of the corner can easily cause the vehicle to scratch.
[0004] Therefore, it is necessary to provide a new autonomous driving environment monitoring device and an autonomous driving vehicle to solve the above technical problems. Utility Model Content
[0005] In order to solve the above technical problems, the utility model provides an automatic driving environment monitoring device and an automatic driving vehicle.
[0006] The utility model provides an autonomous driving environment monitoring device on one hand, comprising a laser radar monitoring component installed on the top of the autonomous driving vehicle and a plurality of infrared probe components installed on the surrounding side of the autonomous driving vehicle, wherein the infrared probe component comprises a mounting box, a turntable and a light-transmitting cover, wherein a driving component for driving the turntable to rotate is provided in the mounting box, a mounting frame is fixed on the turntable, an infrared camera probe is rotatably mounted on the mounting frame, and the light-transmitting cover is detachably mounted on the mounting frame, and the light-transmitting cover wraps the infrared camera probe;
[0007] The turntable is also provided with a driving component 2 for driving the infrared camera probe to rotate, and the rotation direction of the turntable and the rotation direction of the infrared camera probe are perpendicular to each other.
[0008] Furthermore, the driving assembly 1 includes a motor 1, a driving gear 1, a large gear 1 and a shaft rod 1, the motor 1 is fixedly installed in the installation box, the rotor end of the motor 1 is fixedly connected to the driving gear 1, the driving gear 1 is meshed with the large gear 1, the large gear 1 is fixedly installed on the outer surface of the shaft rod 1, one end of the shaft rod 1 is rotatably installed in the installation box, and the other end of the shaft rod 1 is fixedly connected to the turntable.
[0009] Furthermore, the laser radar monitoring assembly includes a fixed frame, a support rod and two relative laser radar modules. The support rod is fixedly installed at the top center of the fixed frame, and the two laser radar modules are rotatably installed on both sides of the support rod. Two driving mechanisms for driving the laser radar modules to rotate in the vertical direction are respectively provided on both sides of the top of the fixed frame.
[0010] Furthermore, the second driving component includes a second motor, a second driving gear, a second large gear and a horizontal axis. The second motor is fixedly mounted on the turntable, the rotor end of the second motor is fixedly connected to the second driving gear, the second driving gear is meshed with the second large gear, the second large gear is fixedly mounted on the outer surface of the horizontal axis, the two ends of the horizontal axis are respectively rotatably mounted on both sides of the mounting frame, and the outer surface of the horizontal axis is fixedly connected to the infrared camera probe.
[0011] Furthermore, the driving mechanism includes a protective cover, a motor three, a driving gear three, a large gear three and a shaft rod two, the protective cover is fixedly installed on the inner wall of the top of the fixed frame, the motor three is fixedly installed on the inner wall of the protective cover, the rotor end of the motor three is fixedly connected to the driving gear three, the driving gear three is meshed with the large gear three, the large gear three is fixedly installed on the outer surface of the shaft rod two, the shaft rod two is rotatably installed on one side of the protective cover, and one end of the shaft rod two is fixedly connected to one end of the laser radar module.
[0012] Another aspect of the utility model provides an autonomous driving vehicle, comprising an autonomous driving vehicle body and the above-mentioned autonomous driving environment monitoring device, wherein the installation box is fixedly installed on the inner side of the autonomous driving vehicle body, and the infrared camera probe and the light-transmitting cover pass through the autonomous driving vehicle body, and the fixing frame is fixedly installed on the top of the autonomous driving vehicle body.
[0013] Compared with the related art, the automatic driving environment monitoring device and the automatic driving vehicle provided by the utility model have the following beneficial effects:
[0014] 1. By combining drive component 1 with drive component 2, the infrared camera probe can be adjusted in the up, down, left, and right detection directions. When the autonomous driving vehicle changes lanes or turns, the detection direction of the corner can be adjusted in time, which can avoid the blind spot and the situation of touching obstacles to a certain extent.
[0015] 2. By changing the monitoring angle of the laser radar monitoring component, it has a higher performance in monitoring high foreign objects in the height-restricted area and is highly applicable. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 This is a schematic diagram of the disassembled structure of the automatic driving environment monitoring device provided by the utility model;
[0017] Figure 2 This is a schematic diagram of the overall structure of the laser radar monitoring component provided by the utility model;
[0018] Figure 3 Schematic diagram of the split structure of the laser radar monitoring component provided by the utility model Figure 1 ;
[0019] Figure 4 Schematic diagram of the split structure of the laser radar monitoring component provided by the utility model Figure 2 ;
[0020] Figure 5 The overall structure of the automatic driving vehicle provided by the utility model is schematically shown Figure 1 ;
[0021] Figure 6 The overall structure of the automatic driving vehicle provided by the utility model is schematically shown Figure 2 .
[0022] Numbers in the figure: 1. Infrared probe assembly; 2. LiDAR monitoring assembly; 3. Installation box; 4. Turntable; 5. Transparent cover; 6. Mounting bracket; 7. Infrared camera probe; 8. Motor 1; 9. Drive gear 1; 10. Large gear 1; 11. Shaft rod 1; 12. Fixing bracket; 13. Support rod; 14. LiDAR module; 15. Motor 2; 16. Drive gear 2; 17. Large gear 2; 18. Horizontal axis; 19. Protective cover; 20. Motor 3; 21. Drive gear 3; 22. Large gear 3; 23. Shaft rod 2; 24. Autonomous driving vehicle body. DETAILED DESCRIPTION
[0023] The utility model is further described below in conjunction with the accompanying drawings and implementation modes.
[0024] Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 as well as Figure 6 ,in, Figure 1 Schematic diagram of the disassembled structure of the automatic driving environment monitoring device provided by the utility model Figure 2 A schematic diagram of the overall structure of the laser radar monitoring component provided by the utility model; Figure 3 Schematic diagram of the split structure of the laser radar monitoring component provided by the utility model Figure 1 ; Figure 4 Schematic diagram of the split structure of the laser radar monitoring component provided by the utility model Figure 2 ; Figure 5 The overall structure of the automatic driving vehicle provided by the utility model is shown in FIG. Figure 1 ; Figure 6 The overall structure of the automatic driving vehicle provided by the utility model is shown in FIG. Figure 2 .
[0025] In the specific implementation process, Figure 1-Figure 6 As shown, the automatic driving environment monitoring device provided by the utility model on one hand comprises a laser radar monitoring component 2 installed on the top of the automatic driving car and a plurality of infrared probe components 1 installed on the surrounding side of the automatic driving car, the infrared probe component 1 comprises a mounting box 3, a turntable 4 and a light-transmitting cover 5, a driving component 1 for driving the turntable 4 to rotate is arranged in the mounting box 3, a mounting frame 6 is fixed on the turntable 4, an infrared camera probe 7 is rotatably mounted on the mounting frame 6, and the light-transmitting cover 5 is detachably mounted on the mounting frame 6, and the light-transmitting cover 5 wraps the infrared camera probe 7;
[0026] The turntable 4 is also provided with a driving component 2 for driving the infrared camera probe 7 to rotate. The rotation direction of the turntable 4 and the rotation direction of the infrared camera probe 7 are perpendicular to each other.
[0027] refer to Figure 1 As shown, the driving assembly 1 includes a motor 18, a driving gear 19, a large gear 10 and a shaft 11, the motor 18 is fixedly installed in the installation box 3, the rotor end of the motor 8 is fixedly connected to the driving gear 9, the driving gear 9 is meshed with the large gear 10, the large gear 10 is fixedly installed on the outer surface of the shaft 11, one end of the shaft 11 is rotatably installed in the installation box 3, and the other end of the shaft 11 is fixedly connected to the turntable 4;
[0028] By starting the motor 8, the driving gear 9 is driven to rotate, and the driving gear 9 drives the large gear 10 to rotate, and then the shaft 11 drives the turntable 4 to rotate, so that the infrared camera probe 7 is rotated left or right.
[0029] refer to Figure 1As shown, the driving assembly 2 includes a motor 2 15, a driving gear 2 16, a large gear 2 17 and a horizontal shaft 18. The motor 2 15 is fixedly mounted on the turntable 4. The rotor end of the motor 2 15 is fixedly connected to the driving gear 2 16. The driving gear 2 16 is meshed with the large gear 2 17. The large gear 2 17 is fixedly mounted on the outer surface of the horizontal shaft 18. The two ends of the horizontal shaft 18 are rotatably mounted on both sides of the mounting frame 6. The outer surface of the horizontal shaft 18 is fixedly connected to the infrared camera probe 7.
[0030] By starting the motor 2 15 to drive the driving gear 2 16 to rotate, the driving gear 2 16 drives the large gear 2 17 to rotate, and then the horizontal axis 18 drives the infrared camera probe 7 to rotate upward or downward. In combination with the driving component 1, the infrared camera probe 7 can be adjusted in the detection direction of the upper, lower, left and right. When the autonomous driving vehicle changes lanes or turns, the detection direction of the corner is adjusted in time, which can avoid the occurrence of blind spots and touch obstacles to a certain extent, and assist intelligent driving.
[0031] In a specific embodiment, reference Figure 2-Figure 4 As shown, the laser radar monitoring assembly 2 includes a fixed frame 12, a support rod 13 and two relative laser radar modules 14. The support rod 13 is fixedly installed at the top center of the fixed frame 12, and the two laser radar modules 14 are rotatably installed on both sides of the support rod 13. Two driving mechanisms for driving the laser radar modules 14 to rotate in the vertical direction are respectively provided on both sides of the top of the fixed frame 12.
[0032] The driving mechanism includes a protective cover 19, a motor 3 20, a driving gear 3 21, a large gear 3 22 and a shaft 23. The protective cover 19 is fixedly mounted on the inner wall of the top of the fixing frame 12, the motor 3 20 is fixedly mounted on the inner wall of the protective cover 19, the rotor end of the motor 3 20 is fixedly connected to the driving gear 3 21, the driving gear 3 21 is meshed with the large gear 3 22, the large gear 3 22 is fixedly mounted on the outer surface of the shaft 2 23, the shaft 2 23 is rotatably mounted on one side of the protective cover 19, and one end of the shaft 2 23 is fixedly connected to one end of the laser radar module 14;
[0033] By starting the motor 3 20 to drive the driving gear 3 21 to rotate, the driving gear 3 21 drives the large gear 3 22 to rotate, and then the shaft 2 23 drives the laser radar module 14 to adjust the angle. By changing the monitoring angle of the laser radar monitoring component 2, the monitoring of high foreign objects in the height-restricted area has a higher performance and high applicability;
[0034] It should be noted that the angles of the two laser radar modules 14 may be inconsistent. For example, the monitoring range of one laser radar module 14 is 0-90°, and the monitoring range of the other laser radar module 14 is 0-180°.
[0035] refer to Figure 5-Figure 6As shown, an autonomous driving vehicle includes an autonomous driving body 24 and the above-mentioned autonomous driving environment monitoring device, the mounting box 3 is fixedly installed on the inner side of the autonomous driving body 24, and the infrared camera probe 7 and the light-transmitting cover 5 pass through the autonomous driving body 24, and the fixing frame 12 is fixedly installed on the top of the autonomous driving body 24.
[0036] The working principle of the utility model is as follows: when the self-driving car is in use, the laser radar monitoring component 2 is installed on the top of the self-driving car body 24, and the infrared probe component 1 is installed on the front and rear sides of the self-driving car body 24. The driving gear 9 is driven to rotate by the starting motor 18, and the large gear 10 is driven to rotate by the driving gear 9, and then the shaft 11 drives the turntable 4 to rotate, and the infrared camera probe 7 is rotated to the left or right. The driving gear 16 is driven to rotate by the starting motor 15, and the large gear 17 is driven by the driving gear 16, and then the horizontal shaft 18 drives the infrared camera probe 7 to rotate. By performing upward or downward rotation movement, the infrared camera probe 7 can be adjusted in the up, down, left and right detection directions in combination with the driving component 1. When the autonomous driving vehicle changes lanes or turns, the detection direction of the corner can be adjusted in time, which can avoid the blind spot from touching obstacles to a certain extent. By starting the motor 3 20 to drive the driving gear 3 21 to rotate, the driving gear 3 21 drives the large gear 3 22 to rotate, and then the shaft 23 drives the laser radar module 14 to adjust the angle. By changing the monitoring angle of the laser radar monitoring component 2, it has a higher performance in monitoring high foreign objects in the height-restricted area and has high applicability.
[0037] The circuits and controls involved in the present invention are all prior art and will not be described in detail here.
[0038] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.
Claims
1. An automatic driving environment monitoring device, characterized in that: The invention comprises a laser radar monitoring component (2) installed on the top of an autonomous driving vehicle and a plurality of infrared probe components (1) installed on the sides of the autonomous driving vehicle, wherein the infrared probe component (1) comprises a mounting box (3), a turntable (4) and a light-transmitting cover (5), wherein a driving component 1 for driving the turntable (4) to rotate is arranged in the mounting box (3), a mounting frame (6) is fixed on the turntable (4), an infrared camera probe (7) is rotatably mounted on the mounting frame (6), and the light-transmitting cover (5) is detachably mounted on the mounting frame (6), and the light-transmitting cover (5) wraps the infrared camera probe (7); The turntable (4) is also provided with a second driving component for driving the infrared camera probe (7) to rotate, and the rotation direction of the turntable (4) and the rotation direction of the infrared camera probe (7) are perpendicular to each other.
2. The automatic driving environment monitoring device according to claim 1, characterized in that: The driving assembly 1 comprises a motor 1 (8), a driving gear 1 (9), a large gear 1 (10) and a shaft 1 (11); the motor 1 (8) is fixedly installed in the installation box (3); the rotor end of the motor 1 (8) is fixedly connected to the driving gear 1 (9); the driving gear 1 (9) is meshed with the large gear 1 (10); the large gear 1 (10) is fixedly installed on the outer surface of the shaft 1 (11); one end of the shaft 1 (11) is rotatably installed in the installation box (3); and the other end of the shaft 1 (11) is fixedly connected to the turntable (4).
3. The automatic driving environment monitoring device according to claim 1, characterized in that: The laser radar monitoring assembly (2) comprises a fixing frame (12), a support rod (13) and two opposing laser radar modules (14), wherein the support rod (13) is fixedly mounted at the top center of the fixing frame (12), and the two laser radar modules (14) are rotatably mounted on both sides of the support rod (13), and two driving mechanisms for driving the laser radar modules (14) to rotate in a vertical direction are respectively provided on both sides of the top of the fixing frame (12).
4. The automatic driving environment monitoring device according to claim 2, characterized in that: The second driving assembly comprises a second motor (15), a second driving gear (16), a second large gear (17) and a transverse shaft (18); the second motor (15) is fixedly mounted on the turntable (4); the rotor end of the second motor (15) is fixedly connected to the second driving gear (16); the second driving gear (16) is meshed with the second large gear (17); the second large gear (17) is fixedly mounted on the outer surface of the transverse shaft (18); the two ends of the transverse shaft (18) are rotatably mounted on two sides of the mounting frame (6); and the outer surface of the transverse shaft (18) is fixedly connected to the infrared camera probe (7).
5. The automatic driving environment monitoring device according to claim 3, characterized in that: The driving mechanism comprises a protective cover (19), a motor three (20), a driving gear three (21), a large gear three (22) and a shaft rod two (23), wherein the protective cover (19) is fixedly mounted on the inner wall of the top of the fixing frame (12), the motor three (20) is fixedly mounted on the inner wall of the protective cover (19), the rotor end of the motor three (20) is fixedly connected to the driving gear three (21), the driving gear three (21) is meshed with the large gear three (22), the large gear three (22) is fixedly mounted on the outer surface of the shaft rod two (23), the shaft rod two (23) is rotatably mounted on one side of the protective cover (19), and one end of the shaft rod two (23) is fixedly connected to one end of the laser radar module (14).
6. An automatic driving car, characterized in that: It comprises an autonomous driving vehicle body (24) and the autonomous driving environment monitoring device as claimed in claim 4 or 5, wherein the installation box (3) is fixedly installed on the inner side of the autonomous driving vehicle body (24), and the infrared camera probe (7) and the light-transmitting cover (5) pass through the autonomous driving vehicle body (24), and the fixing frame (12) is fixedly installed on the top of the autonomous driving vehicle body (24).